WO2023021873A1 - ツール交換装置 - Google Patents

ツール交換装置 Download PDF

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Publication number
WO2023021873A1
WO2023021873A1 PCT/JP2022/026851 JP2022026851W WO2023021873A1 WO 2023021873 A1 WO2023021873 A1 WO 2023021873A1 JP 2022026851 W JP2022026851 W JP 2022026851W WO 2023021873 A1 WO2023021873 A1 WO 2023021873A1
Authority
WO
WIPO (PCT)
Prior art keywords
tool
cam member
tool changer
attached
electric motor
Prior art date
Application number
PCT/JP2022/026851
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
悠 竹林
Original Assignee
株式会社コガネイ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社コガネイ filed Critical 株式会社コガネイ
Priority to DE112022003074.7T priority Critical patent/DE112022003074T5/de
Priority to CN202280049728.6A priority patent/CN117642258A/zh
Publication of WO2023021873A1 publication Critical patent/WO2023021873A1/ja

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0408—Connections means
    • B25J15/0416—Connections means having balls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0408—Connections means
    • B25J15/0425—Connections means having cams

Definitions

  • the present invention relates to a tool changer to which a tool unit is detachably attached.
  • a tool changer is attached to the robot arm as a movement device, and a tool unit is detachably attached to the tool changer, in order to operate the robot arm to perform operations such as machining of workpieces.
  • the tool unit is provided with manipulating devices such as tools and hands for processing the work and transporting the work and jigs.
  • a plurality of tool units having different operation devices according to the type of operation on the workpiece or jig are arranged on the support base, and one of the tool units is attached to the tool changing device according to the operation.
  • Patent Document 1 discloses a coupling device for a robot arm having a master plate attached to the robot arm and a tool plate to which a tool or the like is attached.
  • a mechanism is provided.
  • the attachment/detachment mechanism has an insertion portion that is inserted into the insertion hole of the ball receiver of the tool plate, and the insertion portion is provided with a ball that engages with the inner peripheral surface of the insertion hole.
  • a piston member is provided on the master plate for engaging the ball in the insertion hole.
  • the compressed air supply source for supplying compressed air to the piston member is moved by moving the arm of the industrial robot or the like. must be provided in the device.
  • the moving device is provided with an air pressure supply source for supplying compressed air to the pneumatic device. Air can be supplied.
  • the tool plate is not equipped with a pneumatic device, it is necessary to provide the moving device with a compressed air supply source for driving the piston member.
  • the master plate must be provided with hoses for air supply, and the master plate must be provided with a space for these. For this reason, the structures of the coupling device and the master plate as the tool changing device become complicated, and it is difficult to reduce the size of the tool changing device.
  • An object of the present invention is to provide a tool changing device with a simple structure.
  • a tool changing device is a tool changing device to which a tool unit is detachably mounted, comprising: a device main body having a motor housing chamber for housing an electric motor; a cylindrical member fitted with a plurality of balls that engage with an engagement ring provided in the cam member; a cam member mounted inside the cylindrical member and driven to rotate by an electric motor arranged in the motor housing; A ball drive surface is provided on the cam member and includes a locking surface for engaging the ball with the engagement ring and a release surface for releasing the ball from the engagement ring.
  • the tool changer has a device main body that houses an electric motor, and a cylindrical member to which balls that engage with the engagement ring of the tool unit are mounted. and a release surface for releasing the ball from the engagement ring. Since the cam member is driven to rotate by an electric motor, the tool unit can be attached and detached by a tool changing device with a simple structure. It can be worn freely.
  • FIG. 4 is a cross-sectional view showing a state in which the tool unit is removed from the tool changing device; 2 is an exploded view of FIG. 1; FIG. FIG. 2 is a cross-sectional view of the cylindrical member taken along the line AA of FIG. 1, (A) showing the locked state of the balls and (B) showing the released state of the balls.
  • FIG. 10 is a front view showing the appearance of a tool unit to which an electric hand as an operation device is attached and a tool changing device of another embodiment attached to a robot arm.
  • Figure 6 is a cross-sectional view of the tool changer shown in Figure 5; It is a plane side sectional view showing a tool exchange device which is other embodiments.
  • FIG. 8 is a cross-sectional view taken along the line BB in FIG. 7;
  • a tool unit 11 is detachably attached to the tool changer 10a.
  • the tool unit 11 includes an annular tool block 12 and an annular fastening block 13 attached to the front surface of the tool block 12 , and the rear surface of the tool block 12 is the abutment surface 14 .
  • An engagement ring 15 is provided integrally with the tool block 12.
  • the engagement ring 15 has a small-diameter through hole 16 formed in the central portion in the direction along the central axis O1.
  • a ball guide surface 17 is provided on the back side of the , and a ball engaging surface 18 is provided on the front side.
  • the ball guide surface 17 is inclined from the rear surface of the tool block 12 toward the through hole 16 so as to have a smaller diameter
  • the ball engaging surface 18 is inclined from the through hole 16 toward the front surface of the tool block 12 so as to have a larger diameter.
  • the fastening block 13 of the tool unit 11 is designed so that an operating device such as an electric hand or an electric screwdriver can be attached.
  • the operating device is connected to the controller through a connector and driven by the controller.
  • a tool changer 10a is mounted on a robot arm (not shown) in order to process and transfer a workpiece by a robot arm as a moving device using the operating device mounted on the tool unit 11.
  • FIG. The tool changer 10a is also called a master unit or a master plate.
  • the tool changing device 10a has a device main body 20.
  • the device main body 20 includes a motor case 21 and an end plate 22 attached to the tip of the motor case 21 .
  • the motor case 21 is provided between a rear base disk 21a attached to the robot arm, a front end attachment ring 21b to which the tool unit 11 is detachably attached, and between the base disk 21a and the attachment ring 21b. and a central cylindrical body 21c.
  • the outer diameter of the central cylinder 21c is smaller than the outer diameters of the base disk 21a and the mounting ring 21b.
  • An operation space 19 made up of a recess is formed.
  • the end plate 22 is attached to the mounting ring 21 b , and the mounting ring 21 b and the end plate 22 form a mounting flange 23 .
  • the end plate 22 is formed with a screw hole 25a, and the end plate 22 is fixed to the mounting ring 21b by a screw member 25 screwed into the screw hole 25a.
  • a screw member (not shown) is also provided at a position shifted by 180 degrees in the circumferential direction of the mounting ring 21b.
  • the outer peripheral portion of the front surface of the end plate 22 is a mounting surface 26 against which the abutment surface 14 of the tool block 12 abuts.
  • the side on which the mounting surface 26 is formed is defined as the front surface
  • the abutment surface 14 that abuts against the mounting surface 26 is defined as the rear surface of the tool unit 11. As shown in FIG.
  • Two lock pins 27 are attached to the end plate 22 with a 180 degree shift in the circumferential direction of the end plate 22, and each lock pin 27 is screwed to a screw member 28 attached to the attachment ring 21b.
  • a cylindrical member 31 is provided on the end plate 22 of the device main body 20 .
  • the cylindrical member 31 has a flange 32 provided at its base end, and four threaded members 33 passing through mounting holes provided in the end plate 22 are threadedly coupled to the flange 32 .
  • a cylindrical portion 34 is provided in the radially central portion of the end plate 22 , and a motor housing chamber 35 is formed inside the device main body 20 by the cylindrical portion 34 and the central cylindrical body 21 c.
  • An electric motor 36 is arranged in the motor housing chamber 35 , and the electric motor 36 is positioned inside the cylindrical portion 34 and fixed to the end plate 22 by a screw member 37 . Electric power is supplied to the electric motor 36 from the outside through a connector (not shown) provided on the apparatus main body 20 .
  • three ball support holes 38 are formed in the cylindrical member 31 at regular intervals in the circumferential direction.
  • the inner diameter decreases toward the outside in the radial direction of 31 .
  • a steel ball or ball 41 is mounted in each of the ball support holes 38 so that the balls 41 cannot be removed radially outwardly of the ball support holes 38 .
  • a cam member 42 is mounted inside the cylindrical member 31.
  • the cam member 42 comprises a driving portion 44 rotatably mounted in a support hole 43 formed at the tip of the cylindrical member 31, and a cam portion 45 integrated therewith.
  • a connecting member 46 is attached to the shaft 39 of the electric motor 36 , and the connecting member 46 meshes with an engagement hole 47 formed in the driving portion 44 of the cam member 42 .
  • the central axis of rotation O2 of the shaft 39 is coaxial with the central axis of rotation of the cam member 42, and the electric motor 36 is arranged vertically so that the shaft 39 is aligned with the central axis of rotation of the cam member 42.
  • a guide pin 48 protrudes from the cam member 42 and is attached to the end plate 22.
  • a guide hole 49 into which the guide pin 48 is inserted is formed in the cam member 42 in an arc shape. be done.
  • the electric motor 36 causes the cam member 42 to reciprocate within the range of the angle ⁇ , as indicated by the arrow in FIG. This angle ⁇ is approximately 80 degrees.
  • a reciprocating rotation angle of the cam member 42 is regulated by a guide pin 48 .
  • each ball driving surface 50 is formed on the outer peripheral surface of the cam portion 45 of the cam member 42, and each ball driving surface 50 is provided within a range of 120 degrees in the circumferential direction.
  • Each ball drive surface 50 has a large lock surface 51 with a maximum radius from the rotation center axis of the cam member 42 and a release surface 52 with a smaller diameter. The radius changes so that the diameter gradually decreases toward the release surface 52 .
  • FIG. 4A when each ball 41 contacts the lock surface 51 , part of the ball 41 protrudes radially outward from the outer peripheral surface of the cylindrical member 31 to engage the ball of the engagement ring 15 . It engages the mating surface 18 .
  • the abutting surface 14 of the tool unit 11 abuts against the mounting surface 26 of the tool changing device 10a, and the tool unit 11 is fastened to the tool changing device 10a.
  • a fastening hole 53 into which the lock pin 27 is inserted is formed in the fastening block 13 , and a sleeve 54 fitted to the lock pin 27 is movably mounted in the fastening hole 53 .
  • the lock pin 27 has a tapered shape in which the distal end portion has a smaller diameter than the proximal end portion, and the inner peripheral surface of the sleeve 54 has a tapered portion in which the inner diameter decreases toward the distal end portion.
  • a compression coil spring 55 is mounted in the fastening hole 53 , and the spring force of the compression coil spring 55 is applied to the sleeve 54 in the direction toward the lock pin 27 .
  • the compression coil spring 55 and the sleeve 54 improve fastening accuracy between the tool unit 11 and the tool changer 10a.
  • the three balls 41 are brought into contact with the release surface 52 as shown in FIGS. 2 and 4B.
  • the cylindrical member 31 is inserted into the through hole 16 of the tool unit 11 in a state where the balls 41 do not protrude from the outer peripheral surface of the cylindrical member 31 .
  • the lock pin 27 is inserted into the sleeve 54, and the rotation of the tool unit 11 with respect to the tool changer 10a is restricted.
  • the electric motor 36 is driven to rotate the shaft 39, and the lock surface 51 of the cam member 42 is moved. It is brought into contact with the ball 41 .
  • the ball 41 contacts the ball engaging surface 18 of the engaging ring 15, and the tool unit 11 is fastened to the tool changer 10a.
  • the tool changer 10a can have a simple structure.
  • the electric motor 36 is arranged vertically in the motor case 21 of the apparatus main body 20, so that the horizontal dimension of the apparatus main body 20, that is, the dimension in the direction transverse to the rotation center axis O2 can be reduced.
  • FIG. 5 is a front view showing the appearance of a tool unit 11 to which an electric hand 1 as an operation device is attached and a tool changer 10b of another embodiment attached to a robot arm 2, and FIG. is a cross-sectional view of the tool changer 10b shown in FIG.
  • the same reference numerals are given to the members having commonality with the tool changer 10a described above.
  • the body-side connector 3 is provided on the mounting flange 23 of the device body 20
  • the tool-side connector 4 is provided on the tool block 12 of the tool unit 11
  • the connector 3 on the main body side is connected to a controller 6 arranged in the robot control section via a signal line 5
  • the connector 4 on the tool side is connected to the electric hand 1 via a signal line 7 .
  • the tool changer 10 b moves along with the electric hand 1 along a predetermined movement path by the robot arm 2 .
  • the electric hand 1 has two fingers 8 for gripping a work or the like, and the fingers 8 can move toward and away from each other.
  • the electric hand 1 is controlled by a signal from the controller 6 to grip a workpiece or the like with the fingers 8 of the electric hand 1 at a predetermined position and to release the gripped workpiece or the like.
  • a through hole 56 is formed in the base disk 21a of the motor case 21 constituting the device main body 20, and a screw member 57 screwed to the robot arm 2 is mounted in the through hole 56. be.
  • the head portion of the screw member 57 is exposed in the operation space 19 formed between the base disk 21a and the mounting ring 21b, radially outward of the central cylindrical body 21c.
  • a plurality of through holes 58a are formed in the mounting ring 21b constituting the mounting flange 23, and through holes 58b are formed in the end plate 22 so as to correspond to the through holes 58a.
  • Each through hole 58a, 58b opens into the operation space 19 and is used to mount a screw member 59 for attaching the electric hand 1 to the tool changer 10b.
  • the screw member 59 is attached to a through hole 60 formed in the tool unit 11 .
  • the screw member 57 when the tool changing device 10b is attached to and detached from the robot arm 2, the screw member 57 can be attached and detached from the concave operation space 19, and the tool unit 11 is fastened to the tool changing device 10b.
  • the tool changer 10b can be attached to and detached from the robot arm 2 even in this state.
  • the screw member 59 when attaching and detaching the operating device such as the electric hand 1 to and from the tool unit 11, the screw member 59 can be attached and detached from the operation space 19 through the through holes 58a and 58b.
  • the electric hand 1 can be attached to and detached from the tool unit 11 even when the tool unit 11 is fastened to the tool changing device 10b.
  • the screw member can be attached and detached from the operation space 19 for attaching and detaching operations on the radially outer side of the central cylinder 21c, for example, the tool changer 10b and the tool unit 11 can be attached and detached due to some inconvenience. Even if the robot arm 2 cannot be separated from the robot arm 2, the operating device such as the electric hand 1 can be replaced with the tool unit 11, or the tool replacement device 10b can be removed from the robot arm 2.
  • Three balls 41 are attached to the cylindrical member 31 attached to the end plate 22, similar to the tool changer 10a shown in FIGS. 15 are provided on the tool block 12 . Further, a ball drive surface 50 similar to that shown in FIG. Also, the cam member 42 is rotatably supported by the cylindrical member 31 via a bearing 61 .
  • FIG. 7 is a plan side cross-sectional view showing a tool changing device 10c of another embodiment
  • FIG. 8 is a cross-sectional view taken along line BB in FIG.
  • the same reference numerals are given to the members having commonality with the tool changers 10a and 10b described above.
  • the device main body 20 includes a motor case 21 having a rectangular cross-sectional shape and an end plate 22 attached to the tip of the motor case 21 .
  • the tool unit 11 is integrally provided with an engagement ring 15 and has a fastening hole 53 formed therein.
  • a locking pin 27 is attached to the end plate 22 and projects from the mounting surface 26 .
  • the sleeve 54 and compression coil spring 55 shown in FIGS. 1 and 2 may be attached to the tool changer 10c. In that case, the number of parts constituting the tool changer 10c increases, but the fastening accuracy is improved.
  • a cam member 42 is rotatably mounted on the tip wall 62 of the cylindrical member 31 attached to the end plate 22 .
  • a support shaft 63 provided on the cam member 42 is rotatably supported on the tip wall 62 by a bearing 64 .
  • a guide pin 48 fixed to the distal end wall 62 is inserted into the guide hole 49 in the same manner as the cam member 42 described above, and the cam member 42 is guided by the guide pin 48 to cover the range of the angle ⁇ in the same manner as described above. rotate back and forth.
  • the cam member 42 has three ball drive surfaces formed on the outer peripheral surface of the cam portion 45 in the same manner as described above, each ball drive surface having a large diameter lock surface 51 and a small diameter release surface 52 .
  • a drive shaft 65 is rotatably supported on the end plate 22 by a bearing 66 and rotatably supported on the motor case 21 by a bearing 66a. are in agreement.
  • a rotation center axis O3 of the drive shaft 65 is coaxial with the rotation center axis of the cam member 42 .
  • a worm gear 67 is mounted on the drive shaft 65 .
  • a main support plate 68 and a sub support plate 69 are provided parallel to each other on the end plate 22 positioned in the motor housing chamber 35, and a worm shaft rotatably supported at both ends by the main support plate 68 and the sub support plate 69.
  • 71 is provided with a worm 72 that meshes with the worm gear 67 .
  • the rotation center axis O4 of the worm shaft 71 is perpendicular to the rotation center axis O3 of the drive shaft 65. As shown in FIG.
  • the electric motor 36 is attached to the main support plate 68, the rotation center axis O5 of the electric motor 36 is parallel to the rotation center axis O4 of the worm shaft 71, and the electric motor 36 is horizontally disposed in the motor housing chamber 35. ing.
  • a belt 75 is stretched between a pulley 73 attached to the shaft 39 of the electric motor 36 and a pulley 74 attached to the worm shaft 71 .
  • a rotation transmission mechanism 76 for transmitting the rotation of the worm 39 to the worm 72 is constructed.
  • the vertical dimension of the tool changer 10b that is, the dimension in the direction along the rotation center axis O3 can be reduced, and the rotation of the shaft 39 can be controlled by the worm 72.
  • a rotation transmission mechanism 76 can be arranged in the motor housing chamber 35 for transmitting the rotation.
  • the tool changers 10a and 10b described above by rotating the cam member 42 with the electric motor 36, the tool unit 11 is fastened to the tool changer 10b and rotated in the direction opposite to the fastening direction.
  • the tool changer 10c can have a simple structure.
  • the present invention is not limited to the above-described embodiments, and can be modified in various ways without departing from the spirit of the present invention.
  • the number of ball drive surfaces 50 formed on the outer peripheral surface of the cam portion 45 of the cam member 42, that is, the number of balls 41 is not limited to three. More than that may be used.
  • the tool changing device of the present invention can be applied to any moving device provided with a member for moving the tool unit without being limited to the robot arm. .
  • the tool changing device of the present invention can be used for detachably mounting a tool unit with a simple structure.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
PCT/JP2022/026851 2021-08-17 2022-07-06 ツール交換装置 WO2023021873A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE112022003074.7T DE112022003074T5 (de) 2021-08-17 2022-07-06 Werkzeugwechselvorrichtung
CN202280049728.6A CN117642258A (zh) 2021-08-17 2022-07-06 工具更换装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2021-132698 2021-08-17
JP2021132698A JP2023027544A (ja) 2021-08-17 2021-08-17 ツール交換装置

Publications (1)

Publication Number Publication Date
WO2023021873A1 true WO2023021873A1 (ja) 2023-02-23

Family

ID=85240536

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2022/026851 WO2023021873A1 (ja) 2021-08-17 2022-07-06 ツール交換装置

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Country Link
JP (1) JP2023027544A (zh)
CN (1) CN117642258A (zh)
DE (1) DE112022003074T5 (zh)
WO (1) WO2023021873A1 (zh)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0241884A (ja) * 1988-07-29 1990-02-13 Canon Inc ロボットの自動ハンド交換装置
US20070228671A1 (en) * 2006-04-04 2007-10-04 Ati Industrial Automation, Inc. Rotating Coupling for Robotic Tool Changer
US20070228670A1 (en) * 2006-04-04 2007-10-04 Ati Industrial Automation, Inc. Electrically Actuated Robotic Tool Changer
US10047908B1 (en) * 2017-06-20 2018-08-14 Ati Industrial Automation, Inc. Deformable pin locking mechanism for robotic tool changer
DE102017103070A1 (de) * 2017-02-15 2018-08-16 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Wechselkopf eines Wechselsystems und Wechselsystem

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3689715B2 (ja) 2001-10-11 2005-08-31 ビー・エル・オートテック株式会社 ロボットアームカップリング装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0241884A (ja) * 1988-07-29 1990-02-13 Canon Inc ロボットの自動ハンド交換装置
US20070228671A1 (en) * 2006-04-04 2007-10-04 Ati Industrial Automation, Inc. Rotating Coupling for Robotic Tool Changer
US20070228670A1 (en) * 2006-04-04 2007-10-04 Ati Industrial Automation, Inc. Electrically Actuated Robotic Tool Changer
DE102017103070A1 (de) * 2017-02-15 2018-08-16 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Wechselkopf eines Wechselsystems und Wechselsystem
US10047908B1 (en) * 2017-06-20 2018-08-14 Ati Industrial Automation, Inc. Deformable pin locking mechanism for robotic tool changer

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Publication number Publication date
CN117642258A (zh) 2024-03-01
JP2023027544A (ja) 2023-03-02
DE112022003074T5 (de) 2024-04-04

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